WO2010066332A1 - Device for monitoring an environment of a vehicle - Google Patents

Device for monitoring an environment of a vehicle Download PDF

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Publication number
WO2010066332A1
WO2010066332A1 PCT/EP2009/008234 EP2009008234W WO2010066332A1 WO 2010066332 A1 WO2010066332 A1 WO 2010066332A1 EP 2009008234 W EP2009008234 W EP 2009008234W WO 2010066332 A1 WO2010066332 A1 WO 2010066332A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
wafer level
image
level cameras
environment
Prior art date
Application number
PCT/EP2009/008234
Other languages
German (de)
French (fr)
Inventor
Joachim Gloger
Original Assignee
Daimler Ag
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Daimler Ag filed Critical Daimler Ag
Priority to CN200980149513.6A priority Critical patent/CN102245433B/en
Priority to EP09760741.0A priority patent/EP2373521B1/en
Priority to US13/130,074 priority patent/US20110228088A1/en
Publication of WO2010066332A1 publication Critical patent/WO2010066332A1/en
Priority to US14/480,741 priority patent/US9238435B2/en
Priority to US14/694,097 priority patent/US20150224927A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/22—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle
    • B60R1/23—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view
    • B60R1/27—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view providing all-round vision, e.g. using omnidirectional cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R1/00—Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/20—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
    • B60R1/31—Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles providing stereoscopic vision
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N13/00—Stereoscopic video systems; Multi-view video systems; Details thereof
    • H04N13/20—Image signal generators
    • H04N13/204—Image signal generators using stereoscopic image cameras
    • H04N13/243—Image signal generators using stereoscopic image cameras using three or more 2D image sensors
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/10—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used
    • B60R2300/105—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of camera system used using multiple cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/30—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing
    • B60R2300/303—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the type of image processing using joined images, e.g. multiple camera images
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/60—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective
    • B60R2300/607—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by monitoring and displaying vehicle exterior scenes from a transformed perspective from a bird's eye viewpoint
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R2300/00—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle
    • B60R2300/80—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement
    • B60R2300/806—Details of viewing arrangements using cameras and displays, specially adapted for use in a vehicle characterised by the intended use of the viewing arrangement for aiding parking

Definitions

  • the invention relates to a device for monitoring an environment of a vehicle according to the features of the preamble of patent claim 1.
  • a monitoring device for a vehicle is known.
  • a device for monitoring a not directly visible environment of a vehicle and / or for predictive monitoring of the vehicle path includes a front and / or Rear camera of the vehicle arranged camera, a signal processing device and a display device in the field of view of the driver.
  • the device comprises means for transferring the at least one camera into a protected rest position when not in use and at least one defined operating position when in use and means for anticipatory monitoring of the road surface on which the wheels of the vehicle roll, said means at least one scanning device on the vehicle for detecting bumps in the ground, and an evaluation unit which converts the signals of the at least one scanning device into display signals and / or control commands for actively controllable vehicle aggregates.
  • the at least one scanning device of the means for predictive monitoring of the roadway is formed by the at least one existing camera for monitoring the not immediately visible environment of a vehicle, wherein cooperating with the at least one camera means for transferring the at least one camera in a protected rest position when not in use and in at least one defined operating position in use, a pivoting device for vertical and / or horizontal pivoting of the at least one camera.
  • a camera with field of view control for blind spot monitoring in motor vehicles is known.
  • a prism for reflecting incident light from a left and right image sensing direction is disposed on a vehicle.
  • An orientation of an image acquisition unit can be pivoted vertically and obliquely to a horizontal plane, so that objects can be detected with the image acquisition unit above or below this horizontal plane.
  • a device for monitoring a surroundings of a movable body is known from DE 601 01 040 T2, wherein the movable body preferably transports persons or freight, ie in particular is a vehicle.
  • the apparatus includes an image processor operable to transform image data captured by at least one image capture unit into a bird's eye view of the mobile body and its environment such that a display unit displays a bird's eye view of the body and its surroundings.
  • the displayed image can also be determined based on a combination of a first perspective image of a first image acquisition unit and a second perspective image of a second image acquisition unit.
  • a look-up table which is also known as a look-up table or conversion table, is used.
  • US 2008 043 113 A1 discloses a device and a method by which individual images of a front camera and a side camera, which are arranged on a front and left side of a vehicle, are converted into overall images that make up the vehicle and its surroundings a bird's eye view. To complete the detection of the surroundings of the vehicle as completely as possible, the detection areas of the cameras overlap, wherein the overall image shown from a bird's-eye view is formed on the basis of a combination of the individual images. The conversion of the single images to the overall image is based on data from a conversion table.
  • WLC Wafer Level Camera
  • the optical lenses are placed directly on a wafer. Similar to the application of circuits to the wafer, the production of wafer level cameras also works. Thousands of optical lenses are simultaneously applied to a wafer, then aligned and glued to it. WaferStack technology eliminates the need for costly single lens assembly and alignment in the traditional manufacturing process. Finally, the individual wafer level cameras are cut out of the wafer and placed on a sensor module. The big advantage of this technique is the low cost of production. Furthermore, the 2.5 millimeter wafer-level cameras are only about half the size of the smallest conventional camera modules.
  • the invention has for its object to provide an improved device for monitoring an environment of a vehicle.
  • the environment is detected on the basis of a plurality of image acquisition units, the coverage areas of which at least partially overlap and form an overlap area, wherein individual images captured by the image acquisition units an overall image is generated on the basis of an image processing unit, which shows the vehicle and its surroundings from a bird's eye view.
  • the image acquisition units are inventively designed as wafer level cameras.
  • the wafer level cameras cause low production costs.
  • the space requirement of the wafer level cameras is so low that several such wafer level cameras can be arranged in parallel in the form of a line next to one another in the vehicle.
  • a large number of installed wafer level cameras can expediently capture a complete environment of the vehicle, without requiring complicated pivoting mechanisms for a single camera.
  • FIGURE 1 shows a schematic representation of a line according to the invention comprising a plurality of wafer level cameras.
  • wafer level cameras 1 are arranged in a line and not shown further integrated on the sides of a vehicle body.
  • the wafer level cameras 1 are produced by means of a so-called WLC technology (wafer level camera).
  • WLC technology wafer level camera
  • the optical lenses 4 are mounted directly on a wafer 5. Similar to the application of circuits to the wafer 5, the production of the wafer level cameras 1 also works. Thousands of optical lenses 4 are simultaneously applied to a wafer 5, thereafter aligned and glued to it.
  • WaferStack technology eliminates the necessary but costly individual assembly and alignment of the lenses 4 in the conventional production method.
  • the individual wafer level cameras 1 are cut out of the wafer and placed on a sensor module 6. The big advantage of this technique is the low cost of production. Furthermore, the 2.5 millimeter wafer-level cameras are only about half the size of the smallest conventional camera modules.
  • the wafer level cameras 1 are arranged and aligned in such a way that their respectively recorded detection areas 2 partially overlay, ie Portions of the imaged surroundings of the vehicle are detected by several cameras and form an overlap area 3.
  • an image processing unit (not shown) generates individual images captured by the wafer level cameras 1 and generates an overall image of the vehicle whose surroundings show a bird's eye view. This overall image is preferably output to the driver of the vehicle on a screen.
  • the overall image is transmitted to a display device, not shown, which is arranged in the vehicle in the field of vision of the driver.
  • a display device for example, a display device of a navigation system or a rear-assistance system can be used.
  • an illustrated image of the wafer level cameras 1 can be overlaid on the display device with markings representing dimensions of the vehicle, for example a width and additionally also a height of the vehicle, so that the driver can quickly and unambiguously detect whether his vehicle is for example between obstacles or under an obstacle.
  • the monitoring device additionally includes an image processing unit for correctly positioning the marks corresponding to a respective displayed image detail.
  • the vehicle is shown in the direction of travel on the display unit, wherein the driver of the vehicle can preferably choose in which representation to him the vehicle 1 and its surroundings to be displayed.
  • stereoscopy may be used.
  • the images of two wafer level cameras 1 are taken from a line of wafer level cameras 1 and transmitted to the image processing unit.
  • a distance between the two receiving cameras is important.
  • This base width B is variable with a line of wafer level cameras 1.
  • the base width B can be varied simply by controlling different wafer level cameras 1. For example, widely spaced wafer level cameras can take 1 image with a large base width B. Similarly, closely spaced wafer level cameras can take 1 image with a small base width B.
  • this base width adjustment works without complex mechanics for adjusting a camera.
  • the wafer level cameras 1 of a line are equipped with optical lenses 4 with different focal lengths.
  • images with different focal lengths can be recorded by simply switching between the different wafer level cameras 1.

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Mechanical Engineering (AREA)
  • Signal Processing (AREA)
  • Traffic Control Systems (AREA)
  • Closed-Circuit Television Systems (AREA)
  • Image Processing (AREA)
  • Studio Devices (AREA)

Abstract

The invention relates to a device for monitoring an environment of a vehicle, wherein the environment is captured by means of a plurality of image capturing units, the capture ranges (2) thereof at least partially overlapping each other and forming an overlap range (3), wherein an overall image is generated from the individual images captured by means of the image capturing units, said overall image showing the vehicle and the environment thereof from a bird's-eye view. According to the invention, the image capturing units are designed as wafer-level cameras (1).

Description

Vorrichtung zur Überwachung einer Umgebung eines Fahrzeugs Device for monitoring an environment of a vehicle
Die Erfindung betrifft eine Vorrichtung zur Überwachung einer Umgebung eines Fahrzeugs nach den Merkmalen des Oberbegriffs des Patentanspruchs 1.The invention relates to a device for monitoring an environment of a vehicle according to the features of the preamble of patent claim 1.
Nutzfahrzeuge zum Güter- oder Personentransport sind häufig durch große Fahrzeugabmessungen und eine geringe Übersichtlichkeit gekennzeichnet. Auch moderne Personenkraftwagen weisen aufgrund ihrer äußeren Gestalt häufig eine sehr geringe Übersichtlichkeit auf. Daraus resultiert, dass insbesondere ein Rangieren mit diesen Fahrzeugen für einen Fahrer sehr schwierig ist. Deshalb ist es vorteilhaft, Fahrzeuge und deren Umgebung aus einer Vogelperspektive auf einem Bildschirm darzustellen, so dass das Fahrzeug und dessen gesamte Umgebung für den Fahrer sichtbar sind.Commercial vehicles for goods or passenger transport are often characterized by large vehicle dimensions and a low clarity. Modern passenger cars also often have a very small clarity due to their external shape. As a result, in particular, maneuvering with these vehicles is very difficult for a driver. Therefore, it is advantageous to display vehicles and their surroundings from a bird's eye view on a screen, so that the vehicle and its entire environment are visible to the driver.
Aus dem Stand der Technik sind verschiedene Verfahren und Vorrichtungen zu einer derartigen Überwachung und Darstellung einer Umgebung eines Fahrzeugs bekannt, wobei einem Fahrer des Fahrzeugs insbesondere ein Bild des Fahrzeugs und dessen Umgebung aus einer Vogelperspektive ausgegeben wird. Dadurch wird für den Fahrer eine verbesserte Rundumsicht geschaffen, die diesem als Assistenzfunktion bzw. Unterstützung während des Fahrbetriebes, beispielsweise bei einem Rangieren des Fahrzeugs, dient. Weiterhin können Unfälle vermieden werden, welche sich häufig aufgrund einer schlechten Rundumsicht, insbesondere bei großen und schwer überschaubaren Fahrzeugen, ereignen.Various methods and devices for monitoring and displaying an environment of a vehicle are known from the prior art, wherein a driver of the vehicle, in particular, a picture of the vehicle and its surroundings is output from a bird's eye view. As a result, an improved all-round view is created for the driver, who serves this as an assistance function or assistance during the driving operation, for example when maneuvering the vehicle. Furthermore, accidents can be avoided, which often occur due to poor visibility, especially in large and difficult manageable vehicles occur.
Aus dem Stand der Technik ist, wie in der DE 100 59 786 B4 beschrieben, eine Überwachungseinrichtung für ein Fahrzeug bekannt. Eine Einrichtung zur Überwachung einer nicht unmittelbar einsehbaren Umgebung eines Fahrzeugs und/oder zur vorausschauenden Überwachung der Fahrzeugbahn umfasst eine im Front- und/oder Heckbereich des Fahrzeugs angeordnete Kamera, eine Signalverarbeitungsvorrichtung und eine Anzeigevorrichtung im Blickfeld des Fahrers. Des Weiteren umfasst die Einrichtung Mittel zur Überführung der wenigstens einen Kamera in eine geschützte Ruhelage bei Nichtgebrauch und in wenigstens eine definierte Betriebslage bei Gebrauch und Mittel zur vorausschauenden Überwachung der Fahrbahn, auf der die Räder des Fahrzeugs rollen, wobei diese Mittel wenigstens eine Abtasteinrichtung am Fahrzeug zur Erfassung von Bodenunebenheiten umfassen, sowie eine Auswerteeinheit, die die Signale der wenigstens einen Abtasteinrichtung in Anzeigesignale und/oder Steuerbefehle für aktiv steuerbare Fahrzeugaggregate umwandelt. Die wenigstens eine Abtasteinrichtung der Mittel zur vorausschauenden Überwachung der Fahrbahn ist durch die wenigstens eine vorhandene Kamera zur Überwachung der nicht unmittelbar einsehbaren Umgebung eines Fahrzeugs gebildet, wobei die mit der wenigstens einen Kamera zusammenwirkenden Mittel zur Überführung der wenigstens einen Kamera in eine geschützte Ruhelage bei Nichtgebrauch und in wenigstens eine definierte Betriebslage bei Gebrauch eine Verschwenkeinrichtung zur vertikalen und/oder horizontalen Verschwenkung der wenigstens einen Kamera aufweisen.From the prior art, as described in DE 100 59 786 B4, a monitoring device for a vehicle is known. A device for monitoring a not directly visible environment of a vehicle and / or for predictive monitoring of the vehicle path includes a front and / or Rear camera of the vehicle arranged camera, a signal processing device and a display device in the field of view of the driver. Furthermore, the device comprises means for transferring the at least one camera into a protected rest position when not in use and at least one defined operating position when in use and means for anticipatory monitoring of the road surface on which the wheels of the vehicle roll, said means at least one scanning device on the vehicle for detecting bumps in the ground, and an evaluation unit which converts the signals of the at least one scanning device into display signals and / or control commands for actively controllable vehicle aggregates. The at least one scanning device of the means for predictive monitoring of the roadway is formed by the at least one existing camera for monitoring the not immediately visible environment of a vehicle, wherein cooperating with the at least one camera means for transferring the at least one camera in a protected rest position when not in use and in at least one defined operating position in use, a pivoting device for vertical and / or horizontal pivoting of the at least one camera.
Aus der EP 1 145 905 A2 ist eine Kamera mit Sichtfeldsteuerung zur Totwinkelüberwachung bei Kraftfahrzeugen bekannt. Ein Prisma zur Reflexion einfallenden Lichts aus einer linken und rechten Bilderfassungsrichtung ist an einem Fahrzeug angeordnet. Eine Ausrichtung einer Bilderfassungseinheit kann vertikal und schräg zu einer horizontalen Ebene verschwenkt werden, so dass mit der Bilderfassungseinheit Objekte oberhalb oder unterhalb dieser horizontalen Ebene erfassbar sind.From EP 1 145 905 A2 a camera with field of view control for blind spot monitoring in motor vehicles is known. A prism for reflecting incident light from a left and right image sensing direction is disposed on a vehicle. An orientation of an image acquisition unit can be pivoted vertically and obliquely to a horizontal plane, so that objects can be detected with the image acquisition unit above or below this horizontal plane.
Eine Vorrichtung zur Überwachung einer Umgebung eines beweglichen Körpers ist aus der DE 601 01 040 T2 bekannt, wobei der bewegliche Körper vorzugsweise Personen oder Fracht transportiert, d. h. insbesondere ein Fahrzeug ist. Die Vorrichtung umfasst einen Bildprozessor, welcher derart betreibbar ist, dass dieser von zumindest einer Bilderfassungseinheit erfasste Bilddaten zu einer Anzeige des mobilen Körpers und seiner Umgebung in einer Vogelperspektive derart transformiert, dass eine Anzeigeinheit ein Bild des Körpers und seiner Umgebung in der Vogelperspektive anzeigt. Dabei ist das angezeigte Bild auch anhand einer Kombination eines ersten perspektivischen Bildes einer ersten Bilderfassungseinheit und eines zweiten perspektivischen Bildes einer zweiten Bilderfassungseinheit ermittelbar. Zu der Transformation der Bilddaten wird eine Nachschlage-Tabelle, welche auch als Look-Up-Table oder Umrechnungstabelle bekannt ist, verwendet. Weiterhin offenbart die US 2008 043 113 A1 eine Vorrichtung und ein Verfahren, mittels denen Einzelbilder von einer vorderen Kamera und einer seitlichen Kamera, welche an einer vorderen und linken Seite eines Fahrzeugs angeordnet sind, in Gesamtbilder umgewandelt werden, die das Fahrzeug und dessen Umgebung aus einer Vogelperspektive darstellen. Zu einer möglichst vollständigen Erfassung der Umgebung des Fahrzeugs überlappen sich die Erfassungsbereiche der Kameras, wobei das aus der Vogelperspektive dargestellte Gesamtbild anhand einer Kombination der Einzelbilder gebildet wird. Die Umrechnung der Einzelbilder zu dem Gesamtbild erfolgt anhand von Daten einer Umrechnungstabelle.A device for monitoring a surroundings of a movable body is known from DE 601 01 040 T2, wherein the movable body preferably transports persons or freight, ie in particular is a vehicle. The apparatus includes an image processor operable to transform image data captured by at least one image capture unit into a bird's eye view of the mobile body and its environment such that a display unit displays a bird's eye view of the body and its surroundings. In this case, the displayed image can also be determined based on a combination of a first perspective image of a first image acquisition unit and a second perspective image of a second image acquisition unit. For the transformation of the image data, a look-up table, which is also known as a look-up table or conversion table, is used. Furthermore, US 2008 043 113 A1 discloses a device and a method by which individual images of a front camera and a side camera, which are arranged on a front and left side of a vehicle, are converted into overall images that make up the vehicle and its surroundings a bird's eye view. To complete the detection of the surroundings of the vehicle as completely as possible, the detection areas of the cameras overlap, wherein the overall image shown from a bird's-eye view is formed on the basis of a combination of the individual images. The conversion of the single images to the overall image is based on data from a conversion table.
Weiterhin ist aus dem Stand der Technik eine so genannte WLC-Technologie (Wafer- Level-Camera) bekannt. Bei der WLC-Technologie werden die optischen Linsen direkt auf einem Wafer aufgesetzt. Ähnlich wie beim Aufbringen von Schaltkreisen auf den Wafer funktioniert auch die Produktion der Waferlevel Kameras. Dabei werden Tausende optische Linsen gleichzeitig auf einen Wafer aufgebracht, danach ausgerichtet und mit ihm verklebt. Durch eine so genannte WaferStack-Technologie entfällt die notwendige aber kostenintensive einzelne Montage und Ausrichtung der Linsen bei der herkömmlichen Herstellungsmethode. Schließlich werden die einzelnen Waferlevel Kameras aus dem Wafer ausgeschnitten und auf ein Sensormodul gesetzt. Großer Vorteil dieser Technik sind die geringen Kosten der Herstellung. Des Weiteren sind die Waferlevel Kameras mit einer Stärke von 2,5 Millimeter nur etwa halb so groß, wie die kleinsten herkömmlichen Kameramodule.Furthermore, a so-called WLC technology (Wafer Level Camera) is known from the prior art. In WLC technology, the optical lenses are placed directly on a wafer. Similar to the application of circuits to the wafer, the production of wafer level cameras also works. Thousands of optical lenses are simultaneously applied to a wafer, then aligned and glued to it. WaferStack technology eliminates the need for costly single lens assembly and alignment in the traditional manufacturing process. Finally, the individual wafer level cameras are cut out of the wafer and placed on a sensor module. The big advantage of this technique is the low cost of production. Furthermore, the 2.5 millimeter wafer-level cameras are only about half the size of the smallest conventional camera modules.
Der Erfindung liegt die Aufgabe zugrunde, eine verbesserte Vorrichtung zur Überwachung einer Umgebung eines Fahrzeugs anzugeben.The invention has for its object to provide an improved device for monitoring an environment of a vehicle.
Die Aufgabe wird erfindungsgemäß durch eine Vorrichtung mit den Merkmalen des Anspruchs 1 gelöst.The object is achieved by a device having the features of claim 1.
Bevorzugte Ausgestaltungen und Weiterbildungen der Erfindung sind in den abhängigen Ansprüchen angegeben.Preferred embodiments and further developments of the invention are specified in the dependent claims.
Bei einer erfindungsgemäßen Vorrichtung zur Überwachung einer Umgebung eines Fahrzeugs wird die Umgebung anhand von mehreren Bilderfassungseinheiten, deren Erfassungsbereiche sich zumindest teilweise überlappen und einen Überlappungsbereich bilden, erfasst, wobei aus mittels der Bilderfassungseinheiten erfassten Einzelbildern anhand einer Bildverarbeitungseinheit ein Gesamtbild erzeugt wird, welches das Fahrzeug und dessen Umgebung aus einer Vogelperspektive zeigt. Die Bilderfassungseinheiten sind erfindungsgemäß als Waferlevel Kameras ausgebildet.In a device according to the invention for monitoring an environment of a vehicle, the environment is detected on the basis of a plurality of image acquisition units, the coverage areas of which at least partially overlap and form an overlap area, wherein individual images captured by the image acquisition units an overall image is generated on the basis of an image processing unit, which shows the vehicle and its surroundings from a bird's eye view. The image acquisition units are inventively designed as wafer level cameras.
Vorteilhafterweise verursachen die Waferlevel Kameras geringe Produktionskosten. Der Bauraumbedarf der Waferlevel Kameras ist so gering, dass mehrere derartige Waferlevel Kameras parallel in Form einer Linie nebeneinander im Fahrzeug angeordnet werden können.Advantageously, the wafer level cameras cause low production costs. The space requirement of the wafer level cameras is so low that several such wafer level cameras can be arranged in parallel in the form of a line next to one another in the vehicle.
Durch eine große Anzahl an verbauten Waferlevel Kameras lässt sich zweckmäßigerweise eine komplette Umgebung des Fahrzeugs erfassen, ohne komplizierte Schwenkmechanismen für eine einzelne Kamera zu benötigen.A large number of installed wafer level cameras can expediently capture a complete environment of the vehicle, without requiring complicated pivoting mechanisms for a single camera.
Dadurch wird für den Fahrer eine verbesserte Rundumsicht geschaffen, die diesem als Assistenzfunktion bzw. Unterstützung während des Fahrbetriebes, beispielsweise bei einem Rangieren des Fahrzeugs, dient. Weiterhin können Unfälle vermieden werden, welche sich häufig aufgrund einer schlechten Rundumsicht, insbesondere bei großen und schwer überschaubaren Fahrzeugen, ereignen.As a result, an improved all-round view is created for the driver, who serves this as an assistance function or assistance during the driving operation, for example when maneuvering the vehicle. Furthermore, accidents can be avoided, which often occur due to poor visibility, especially in large and difficult manageable vehicles occur.
Im Folgenden wird ein Ausführungsbeispiel der Erfindung anhand einer Zeichnung näher erläutert.In the following an embodiment of the invention will be explained in more detail with reference to a drawing.
Dabei zeigt die einzige Figur 1 eine schematische Darstellung einer erfindungsgemäßen Linie aus mehreren Waferlevel Kameras.The sole FIGURE 1 shows a schematic representation of a line according to the invention comprising a plurality of wafer level cameras.
Es werden mehrere, insbesondere 10 oder mehr, Waferlevel Kameras 1 in einer Linie angeordnet und nicht näher dargestellt an den Seiten einer Fahrzeugkarosserie integriert.Several, in particular 10 or more, wafer level cameras 1 are arranged in a line and not shown further integrated on the sides of a vehicle body.
Durch die große Anzahl an Waferlevel Kameras 1 wird eine nicht näher dargestellte Umgebung des Fahrzeugs komplett erfasst. Dadurch werden tote Winkel in der Erfassung vermieden.Due to the large number of wafer level cameras 1, a non-illustrated environment of the vehicle is completely detected. This avoids blind spots in the detection.
Die Waferlevel Kameras 1 werden mittels einer so genannten WLC-Technologie (Wafer- Level-Camera) hergestellt. Bei der WLC-Technologie werden die optischen Linsen 4 direkt auf einem Wafer 5 aufgesetzt. Ähnlich wie beim Aufbringen von Schaltkreisen auf den Wafer 5 funktioniert auch die Produktion der Waferlevel Kameras 1. Dabei werden tausende optische Linsen 4 gleichzeitig auf einen Wafer 5 aufgebracht, danach ausgerichtet und mit ihm verklebt. Durch eine so genannte WaferStack-Technologie entfällt die notwendige aber kostenintensive einzelne Montage und Ausrichtung der Linsen 4 bei der herkömmlichen Herstellungsmethode. Schließlich werden die einzelnen Waferlevel Kameras 1 aus dem Wafer ausgeschnitten und auf ein Sensormodul 6 gesetzt. Großer Vorteil dieser Technik sind die geringen Kosten der Herstellung. Des Weiteren sind die Waferlevel Kameras mit einer Stärke von 2,5 Millimeter nur etwa halb so groß, wie die kleinsten herkömmlichen Kameramodule.The wafer level cameras 1 are produced by means of a so-called WLC technology (wafer level camera). In WLC technology, the optical lenses 4 are mounted directly on a wafer 5. Similar to the application of circuits to the wafer 5, the production of the wafer level cameras 1 also works. Thousands of optical lenses 4 are simultaneously applied to a wafer 5, thereafter aligned and glued to it. By means of a so-called WaferStack technology eliminates the necessary but costly individual assembly and alignment of the lenses 4 in the conventional production method. Finally, the individual wafer level cameras 1 are cut out of the wafer and placed on a sensor module 6. The big advantage of this technique is the low cost of production. Furthermore, the 2.5 millimeter wafer-level cameras are only about half the size of the smallest conventional camera modules.
Um die Umgebung des Fahrzeugs oder zumindest kritische Bereiche dieser Umgebung, die nicht im direkten Sichtfeld des Fahrzeugführers, also im so genannten toten Winkel, liegen, möglichst vollständig abzubilden, sind die Waferlevel Kameras 1 derart angeordnet und ausgerichtet, dass sich deren jeweils abgebildete Erfassungsbereiche 2 teilweise überlagern, d.h. Teilbereiche der abgebildeten Umgebung des Fahrzeugs werden von mehreren Kameras erfasst und bilden einen Überlappungsbereich 3.In order to map the surroundings of the vehicle or at least critical areas of this environment that are not in the direct field of vision of the vehicle driver, ie in the so-called blind spot, the wafer level cameras 1 are arranged and aligned in such a way that their respectively recorded detection areas 2 partially overlay, ie Portions of the imaged surroundings of the vehicle are detected by several cameras and form an overlap area 3.
Um einem Fahrer des Fahrzeugs insbesondere ein Rangieren mit diesem zu erleichtern oder beispielsweise eine verbesserte Übersicht an Ampelkreuzungen auf Objekte neben oder hinter dem Fahrzeug zu ermöglichen, erzeugt eine nicht näher dargestellte Bildverarbeitungseinheit aus mittels der Waferlevel Kameras 1 erfassten Einzelbildern ein Gesamtbild, welches das Fahrzeug und dessen Umgebung aus einer Vogelperspektive zeigt. Dieses Gesamtbild ist dem Fahrer des Fahrzeugs vorzugsweise auf einem Bildschirm ausgebbar.In order to facilitate in particular maneuvering with a driver of the vehicle or, for example, to enable an improved overview of traffic light intersections on objects next to or behind the vehicle, an image processing unit (not shown) generates individual images captured by the wafer level cameras 1 and generates an overall image of the vehicle whose surroundings show a bird's eye view. This overall image is preferably output to the driver of the vehicle on a screen.
Das Gesamtbild wird auf eine nicht näher dargestellte Anzeigevorrichtung, welche im Fahrzeug im Blickfeld des Fahrers angeordnet ist, übertragen. Als derartige Anzeigevorrichtung ist beispielsweise eine Anzeigevorrichtung eines Navigationssystems oder eines Rückfahrassistenzsystems nutzbar.The overall image is transmitted to a display device, not shown, which is arranged in the vehicle in the field of vision of the driver. As such a display device, for example, a display device of a navigation system or a rear-assistance system can be used.
In einer weiteren Ausführungsform ist ein dargestelltes Bild der Waferlevel Kameras 1 auf der Anzeigevorrichtung mit Markierungen überblendbar, welche Abmessungen des Fahrzeugs, beispielsweise eine Breite und zusätzlich auch eine Höhe des Fahrzeugs darstellen, so dass der Fahrer schnell und eindeutig erfassen kann, ob sein Fahrzeug beispielsweise zwischen Hindernissen oder unter einem Hindernis hindurchpasst. In dieser Ausführungsform umfasst die Überwachungsvorrichtung beispielsweise zusätzlich eine Bildverarbeitungseinheit, um die Markierungen entsprechend einem jeweiligen dargestellten Bildausschnitt richtig zu positionieren. In einer nicht näher dargestellten Weiterbildung der Erfindung wird das Fahrzeug in Fahrtrichtung auf der Anzeigeeinheit dargestellt, wobei der Fahrer des Fahrzeugs bevorzugt wählen kann, in welcher Darstellung ihm das Fahrzeug 1 und dessen Umgebung angezeigt werden soll.In a further embodiment, an illustrated image of the wafer level cameras 1 can be overlaid on the display device with markings representing dimensions of the vehicle, for example a width and additionally also a height of the vehicle, so that the driver can quickly and unambiguously detect whether his vehicle is for example between obstacles or under an obstacle. In this embodiment, for example, the monitoring device additionally includes an image processing unit for correctly positioning the marks corresponding to a respective displayed image detail. In a non-illustrated embodiment of the invention, the vehicle is shown in the direction of travel on the display unit, wherein the driver of the vehicle can preferably choose in which representation to him the vehicle 1 and its surroundings to be displayed.
In einer nicht näher dargestellten Ausgestaltung der Erfindung kann fahrsituationsabhängig von der Darstellung des Fahrzeugs und dessen Umgebung aus der Vogelperspektive auf eine Anzeige aus einem anderen Blickwinkel, beispielsweise auf ein Bild einer Rückfahrkamera, umgeschaltet werden, so dass der Fahrer des Fahrzeugs die Fahrsituation besser bewerten kann.In a refinement of the invention which is not shown in detail, it is possible to switch over from the representation of the vehicle and its surroundings from a bird's-eye view to a display from a different angle, for example to an image of a reversing camera, so that the driver of the vehicle can better evaluate the driving situation ,
In einer bevorzugten Ausführungsform kann eine Stereoskopie angewandt werden. Dazu werden aus einer Linie von Waferlevel Kameras 1 die Bilder zweier Waferlevel Kameras 1 aufgenommen und an die Bildverarbeitungseinheit übermittelt.In a preferred embodiment, stereoscopy may be used. For this purpose, the images of two wafer level cameras 1 are taken from a line of wafer level cameras 1 and transmitted to the image processing unit.
Bei der Stereoskopie ist ein Abstand zwischen den beiden aufnehmenden Kameras, auch Basisbreite B genannt, wichtig. Diese Basisbreite B ist bei einer Linie von Waferlevel Kameras 1 variabel. Die Basisbreite B lässt sich einfach durch eine Ansteuerung unterschiedlicher Waferlevel Kameras 1 variieren. Beispielsweise können weit auseinander liegende Waferlevel Kameras 1 Bilder mit einer großen Basisbreite B aufnehmen. Analog dazu können eng beieinander liegende Waferlevel Kameras 1 Bilder mit einer kleinen Basisbreite B aufnehmen.In stereoscopy, a distance between the two receiving cameras, also called base width B, is important. This base width B is variable with a line of wafer level cameras 1. The base width B can be varied simply by controlling different wafer level cameras 1. For example, widely spaced wafer level cameras can take 1 image with a large base width B. Similarly, closely spaced wafer level cameras can take 1 image with a small base width B.
Vorteilhafterweise funktioniert diese Basisbreitenverstellung ohne aufwendige Mechanik zur Verstellung einer Kamera.Advantageously, this base width adjustment works without complex mechanics for adjusting a camera.
In einer weiteren vorteilhaften Ausführungsform sind die Waferlevel Kameras 1 einer Linie mit optischen Linsen 4 mit unterschiedlicher Brennweite ausgestattet. Dadurch können Bilder mit unterschiedlichen Brennweiten durch einfaches Umschalten zwischen den unterschiedlichen Waferlevel Kameras 1 aufgenommen werden.In a further advantageous embodiment, the wafer level cameras 1 of a line are equipped with optical lenses 4 with different focal lengths. As a result, images with different focal lengths can be recorded by simply switching between the different wafer level cameras 1.
Wegen der großen Datenmenge durch die aufgenommenen Bilder ist es zweckmäßig, die Bildverarbeitungseinheit in unmittelbarer räumlicher Nähe zu den Waferlevel Kameras 1 im Fahrzeug anzuordnen, um die Kabelanzahl und Länge gering zu halten. Alternativ ist auch eine drahtlose Datenübertragung zwischen Waferlevel Kameras 1 und Bildverarbeitungseinheit möglich. BezugszeichenlisteBecause of the large amount of data through the recorded images, it is expedient to arrange the image processing unit in the immediate vicinity of the wafer level cameras 1 in the vehicle to keep the number of cables and length low. Alternatively, a wireless data transmission between wafer level cameras 1 and image processing unit is possible. LIST OF REFERENCE NUMBERS
Waferlevel KameraWafer level camera
Erfassungsbereichdetection range
Überlappungsbereich optische LinseOverlap area optical lens
Waferwafer
Sensormodulsensor module
Basisbreite base width

Claims

Patentansprüche claims
1. Vorrichtung zur Überwachung einer Umgebung eines Fahrzeugs, wobei die Umgebung anhand von mehreren Bilderfassungseinheiten, deren Erfassungsbereiche (2) sich zumindest teilweise überlappen und einen Überlappungsbereich (3) bilden, erfasst wird, wobei aus mittels der Bilderfassungseinheiten erfassten Einzelbildern anhand einer Bildverarbeitungseinheit ein Gesamtbild erzeugt wird, welches das Fahrzeug und dessen Umgebung aus einer Vogelperspektive zeigt, dadurch gekennzeichnet, dass die Bilderfassungseinheiten als Waferlevel Kameras (1) ausgebildet sind.1. A device for monitoring an environment of a vehicle, wherein the environment based on a plurality of image acquisition units, the coverage areas (2) overlap at least partially and form an overlap area (3) is detected, wherein from using the image acquisition units captured individual images based on an image processing unit, an overall image is generated, which shows the vehicle and its surroundings from a bird's eye view, characterized in that the image detection units are designed as wafer level cameras (1).
2. Vorrichtung nach Anspruch 1 , dadurch gekennzeichnet, dass mehrere Waferlevel Kameras (1) parallel in Form einer Linie nebeneinander angeordnet sind.2. Apparatus according to claim 1, characterized in that a plurality of wafer level cameras (1) are arranged in parallel in the form of a line next to each other.
3. Vorrichtung nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass die Waferlevel Kameras (1) an den Seiten einer Fahrzeugkarosserie integriert angeordnet sind.3. Apparatus according to claim 1 or 2, characterized in that the wafer level cameras (1) are arranged integrated on the sides of a vehicle body.
4. Vorrichtung nach den vorherigen Ansprüchen, dadurch gekennzeichnet, dass zwei Waferlevel Kameras (1) einer Linie gleichzeitig ein Bild aufnehmen und an die Bildverarbeitungseinheit übermitteln. 4. Device according to the preceding claims, characterized in that two wafer level cameras (1) of a line simultaneously take an image and transmit it to the image processing unit.
5. Vorrichtung nach Anspruch 4, dadurch gekennzeichnet, dass ein Abstand zwischen zwei Waferlevel Kameras (1) variabel ist.5. Apparatus according to claim 4, characterized in that a distance between two wafer level cameras (1) is variable.
6. Vorrichtung nach den vorherigen Ansprüchen, dadurch gekennzeichnet, dass eine Anzeigevorrichtung zur Darstellung des Gesamtbilds vorgesehen ist.6. Device according to the preceding claims, characterized in that a display device is provided for displaying the overall image.
7. Vorrichtung nach den vorherigen Ansprüchen, dadurch gekennzeichnet, dass die Bildverarbeitungseinheit in unmittelbarer räumlicher Nähe zu den Waferlevel Kameras (1) im Fahrzeug angeordnet ist. 7. Device according to the preceding claims, characterized in that the image processing unit in the immediate vicinity of the wafer level cameras (1) is arranged in the vehicle.
PCT/EP2009/008234 2008-12-12 2009-11-19 Device for monitoring an environment of a vehicle WO2010066332A1 (en)

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US13/130,074 US20110228088A1 (en) 2008-12-12 2009-11-19 Device for monitoring an environment of a vehicle
US14/480,741 US9238435B2 (en) 2008-12-12 2014-09-09 Device for monitoring an environment of a vehicle with pairs of wafer level cameras using different base distances
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